Development of a Deformable Water-Mobile Robot

This article proposes a deformable water-mobile robot that can be used for rescue work. The body adopts an open-motion chain structure with two degrees of freedom, including drive modules and one main control module. three are connected through deformation joints, each module is equipped underwater thruster. obtain triangle, linear shape, curved U-shape have types motion: shape motion, U-shaped motion. In the multi-island genetic algorithm was to optimize structural parameters minimum resistance maximum volume. Floating state analysis conducted in U-shape, were reasonably designed. By experimenting prototype on water, achieve oscillating, linear, U-shaped, horizontal rotary has automatic adjustment function, effective buoyancy meets required requirements.